map.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

#include <cstdint>
#include <string>

namespace std
{
template <class T>
class allocator;
}

namespace std_msgs
{
template <class ContainerAllocator>
struct Header_;
typedef Header_<std::allocator<void>> Header;
}  // namespace std_msgs

namespace nav_msgs
{
template <class ContainerAllocator>
struct OccupancyGrid_;
typedef OccupancyGrid_<std::allocator<void>> OccupancyGrid;
}  // namespace nav_msgs

#include <mrpt/version.h>
namespace mrpt
{
namespace maps
{
class COccupancyGridMap2D;
class CMultiMetricMap;
}  // namespace maps
}  // namespace mrpt
using mrpt::maps::CMultiMetricMap;
using mrpt::maps::COccupancyGridMap2D;

#include <mrpt/version.h>

#if MRPT_VERSION < 0x199
namespace mrpt
{
namespace utils
{
class CConfigFile;
}
}  // namespace mrpt
using mrpt::utils::CConfigFile;
#else
namespace mrpt
{
namespace config
{
class CConfigFile;
}
}  // namespace mrpt
using mrpt::config::CConfigFile;
#endif

namespace mrpt_bridge
{
class MapHdl
{
   private:
        static MapHdl* instance_;  // singeleton instance
#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
        int8_t lut_cellmrpt2ros[0xFF];  // lookup table for entry convertion
        int8_t* lut_cellmrpt2rosPtr;  // pointer to the center of the lookup table
// neede to work with neg. indexes
#else
        int8_t lut_cellmrpt2ros[0xFFFF];  // lookup table for entry convertion
        int8_t* lut_cellmrpt2rosPtr;  // pointer to the center of the lookup table
// neede to work with neg. indexes
#endif
        int8_t lut_cellros2mrpt[0xFF];  // lookup table for entry convertion
        int8_t* lut_cellros2mrptPtr;  // pointer to the center of the lookup table
        // neede to work with neg. indexes
        MapHdl();
        MapHdl(const MapHdl&);
        ~MapHdl();

   public:
        static MapHdl* instance();

#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
        const int8_t cellMrpt2Ros(int i) { return lut_cellmrpt2rosPtr[i]; }
#else
        const int16_t cellMrpt2Ros(int i) { return lut_cellmrpt2rosPtr[i]; }
#endif
        const int8_t cellRos2Mrpt(int i) { return lut_cellros2mrptPtr[i]; }
        static const bool loadMap(
                CMultiMetricMap& _metric_map, const CConfigFile& _config_file,
                const std::string& _map_file = "map.simplemap",
                const std::string& _section_name = "metricMap", bool _debug = false);
};

bool convert(const nav_msgs::OccupancyGrid& src, COccupancyGridMap2D& des);

bool convert(
        const COccupancyGridMap2D& src, nav_msgs::OccupancyGrid& msg,
        const std_msgs::Header& header);
bool convert(const COccupancyGridMap2D& src, nav_msgs::OccupancyGrid& msg);

}  // namespace mrpt_bridge